In this paper a new structure of a recurrent neurofuzzy network is proposed. The network considers two cascade-interconnected Fuzzy Inference Systems (FISs), one recurrent and one static, that model the behaviour of a unknown dynamic system from input-output data. Each FIS’s rule involves a linear system in a controllable canonical form. The training for the recurrent FIS is made by a gradient-based Real-Time Recurrent Learning Algorithm (RTRLA), while the training for the static FIS is based on a simple gradient method. The initial parameter conditions previous to training are obtained by extracting information from a static FISs trained with delayed input-output signals. To demonstrate its effectiveness, the identification of two non-linear dynamic systems is included.
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